Self-balancing board with primary wheel and distal auxiliary wheel

ABSTRACT

A self-balancing board is provided, comprising a primary wheel assembly, a platform, at least one sensor, a controller, a first auxiliary wheel assembly, and a first brake element. The primary wheel assembly comprises a primary wheel and a motor driving the primary wheel. The platform is secured to the primary wheel assembly and has a foot deck. The at least one sensor senses the orientation of the platform. The controller receives data from the at least one sensor and controls the motor in response to the received data. The first auxiliary wheel assembly is secured to the platform distal the primary wheel assembly, and is elevated from contacting a flat surface upon which the primary wheel rests when the foot deck is parallel to the flat surface. The first brake element is manually movable relative to the first auxiliary wheel assembly to engage the first auxiliary wheel assembly to provide resistance to rotation of the first auxiliary wheel assembly.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of, and claims the benefit ofPCT/CN2016/105834, filed on Nov. 5, 2016, which is acontinuation-in-part of, and claims the benefit of PCT PatentApplication No. PCT/IB2015/058821, filed on Nov. 15, 2015, the contentsof which are incorporated herein by reference in their entirety.

FIELD OF THE INVENTION

This invention relates to transportation vehicles for individuals,particularly a self-balancing board such as a device known as aone-wheeled skateboard which incorporates a motorized primary wheel.

BACKGROUND OF THE INVENTION

Self-balancing vehicles for transportation of individuals are known inthe art. As described in U.S. Pat. No. 6,302,230B1 and AT299826 (Kamen),such vehicles are typically equipped with two coaxial, individuallydriven wheels, spaced apart and with a platform between, onto which arider of the vehicle may stand facing in an intended forward directionof motion. Gyroscopic and accelerometer sensors detect changes inorientation of the platform and feed information to a motor controlsystem. The motor system is programmed to maintain platform orientationhorizontal within a certain range by rotating the wheels in anydirection, having the effect of aligning the centers-of-gravity of thevehicle and the rider whilst the vehicle has a constant velocity. Onsome types, there is an upright handlebar connected to the platform,giving the rider ability to further control the vehicle by leaningsideways, whereby the wheels will rotate at different speeds and/ordirection, causing the vehicle to turn.

Another variant of the above-described self-balancing vehicle is taughtby U.S. Pat. No. 8,738,278B2 (Chen) in which a vehicle has two spaced,individually powered wheels that are controlled by a motor controlsystem, with a platform between which is split laterally in two halves.Each half of the platform is associated with one wheel and its motorcontrol system, and corresponds to the position of left and right feetof a rider of the vehicle. The two halves are pivotally coupled to oneanother, whereby the rider can control the relative speed and rotationdirection of the two wheels independently using their feet to tilt thetwo platform sections. One benefit of this type of self-balancingvehicle is the lack of need for an upright handlebar, making the unitsmaller and maneuverable without using the hands.

A third type of self-balancing vehicle disclosed by US20110220427A1(Chen) a single large wheel and footrests on either side of the wheel.Friction pads extending upwards from each footrest are designed to givethe rider more stability and comfort by providing support to the insideof the rider's calves.

A fourth type of self-balancing vehicle has a single wheel and aplatform shaped like that of a skateboard. The rider places one foot oneach side of a centrally positioned single wheel, and the intendeddirection of travel is sideways relative to the orientation of therider. U.S. Pat. No. 9,101,817 Doerksen describes such a vehicle. Thereare also developments described in the art towards the safety aspects ofthis type of vehicle. Although the nature of an electric DC motor isthat it can also be used in reverse as a brake, whereby the motor isused as a dynamo and electric energy is generated, more braking powermay be desired. CN103191558A (Chu) describes a similar self-balancingboard with a separate brake mechanism acting on the single centralwheel, thereby increasing the braking power. U.S. Pat. No. 7,811,217(Odien) discloses a self-balancing board with dual centrally positionedwheels, each having a brake associated with it. U.S. Pat. No.7,424,927B2 (Hiramatsu) also describes a self-balancing board with asingle central wheel, having auxiliary wheels in front and back. Theauxiliary wheels are used to sense board angle via contact with asurface, each auxiliary wheel having sensors to determine the time theboard has spent in a certain max tilt angle and feed information to themotor controller in order to initiate a controlled deceleration of themotor, and thus the central wheel.

SUMMARY

According to an aspect, there is provided a self-balancing board,including a primary wheel assembly that includes a primary wheel and amotor driving the primary wheel. The board further includes a platformsecured to the primary wheel assembly and having a foot deck, at leastone sensor sensing the orientation of the platform, a controllerreceiving data from the at least one sensor and controlling the motor inresponse to the received data, a first auxiliary wheel assembly coupledto the platform distal the primary wheel assembly, the first auxiliarywheel assembly being elevated from contacting a flat surface upon whichthe primary wheel rests when the foot deck is parallel to the flatsurface and being engaged with the flat surface upon which the primarywheel rests when the foot deck is tilted by a selected angle, so as tocooperate with the primary wheel to support the self-balancing board onthe flat surface without triggering braking by the controller on theprimary wheel, and a first brake element that is manually movablerelative to the first auxiliary wheel assembly to engage the firstauxiliary wheel assembly to provide resistance to rotation of the firstauxiliary wheel assembly.

The self-balancing board can further comprise a first brake pedal beingbiased to a disengaged position and being movable to an engaged positionin which the first brake element contacts the first auxiliary wheelassembly.

The first brake pedal can be coupled to the platform via a mechanicalhinge.

The first brake pedal can be coupled to the platform via a living hinge.

The first brake element can comprise a first brake pad, the first brakeelement being linearly biased away from the first auxiliary wheelassembly, and wherein the first brake element can be manually movedtowards the first auxiliary wheel assembly to cause the first brake padto come into contact with the first auxiliary wheel assembly.

The first auxiliary wheel assembly can be biased away from the platform,and wherein pressure applied to the platform proximal to the firstauxiliary wheel assembly when the first auxiliary wheel assembly urgesthe first auxiliary wheel assembly into contact with the first brakeelement.

The first auxiliary wheel assembly can comprise a first auxiliary wheel,and a first braking surface.

The first brake element can engage the first braking surface to provideresistance to rotation of the first auxiliary wheel assembly.

The self-balancing board can further include a second auxiliary wheelassembly coupled to the platform distal the primary wheel assembly, thesecond auxiliary wheel assembly being elevated from contacting a flatsurface upon which the primary wheel rests when the foot deck isparallel to the flat surface, and a second brake element that ismanually movable relative to the second auxiliary wheel assembly toengage the second auxiliary wheel assembly to provide resistance torotation of the second auxiliary wheel assembly.

The self-balancing board can further comprise a second brake pedal beingbiased to a disengaged position and being movable to an engaged positionin which the second brake element contacts the second auxiliary wheelassembly.

The second brake pedal can be coupled to the platform via a mechanicalhinge.

The second brake pedal can be coupled to the platform via a livinghinge.

The second brake element can comprise a second brake pad, the secondbrake element being linearly biased away from the second auxiliary wheelassembly, and wherein the second brake element can be manually urgedtowards the second auxiliary wheel assembly to cause the second brakepad to come into contact with the second auxiliary wheel assembly.

The second auxiliary wheel assembly can be biased away from theplatform, and wherein pressure applied to the platform proximal to thesecond auxiliary wheel assembly when the second auxiliary wheel assemblyurges the second auxiliary wheel assembly into contact with the secondbrake element.

The self-balancing board can further comprise a handle bar secured tothe platform.

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments will now be described, by way of example only, withreference to the attached Figures, wherein:

FIG. 1 is a side perspective view of a self-balancing board inaccordance with an embodiment;

FIG. 2 is a side perspective view with a rider positioned atop of theself- balancing board of FIG. 1;

FIG. 3a is a top view of the self-balancing board of FIG. 1;

FIG. 3b is a side view of the self-balancing board of FIG. 1;

FIG. 3c is a bottom view of the self-balancing board of FIG. 1;

FIG. 3d is a rear view of the self-balancing board of FIG. 1;

FIG. 4 is an exploded view of the self-balancing board of FIG. 1;

FIG. 5 is an exploded view of the wheel assembly of the self-balancingboard of FIG. 1;

FIG. 6a is a side section view of the self-balancing board of FIG. 1with the brake disengaged;

FIG. 6b is a side section view of the self-balancing board of FIG. 1with the brake engaged;

FIG. 7a is a side view of the self-balancing board of FIG. 1 in normaloperation;

FIG. 7b is a side view of the self-balancing board of FIG. 1 inanti-fall mode;

FIG. 7c is a side view of the self-balancing board of FIG. 1 in brakemode;

FIG. 8 is a side perspective view of an alternative configuration of theself-balancing board of FIG. 1, wherein a handlebar replaces a brakepedal;

FIG. 9 is a side sectional view of a self-balancing board in accordancewith another embodiment having a linearly movable auxiliary wheelassembly;

FIG. 10 is a side view of a self-balancing board in accordance with afurther embodiment having a pivotally movable auxiliary wheel assembly;and

FIG. 11 is a side sectional view of a self-balancing board in accordancewith another embodiment having a linearly movable brake pad.

DETAILED DESCRIPTION OF THE EMBODIMENTS

FIGS. 1, 2, 3 a, 3 b, 3 c, and 3 d show a self-balancing board 100 inaccordance with an embodiment. Self-balancing board 100 has a platform 1that is generally elongated and has a generally central opening in whicha primary wheel assembly 2 is secured. Platform 1 has an upper surface 8that includes two foot rests 9 on either side of primary wheel assembly2 upon which a rider 7 stands. The plane generally extending throughfoot rests 9 defines a foot deck that happens to be coplanar with uppersurface 8 in this embodiment.

Primary wheel assembly 2 includes a primary wheel 2 a that protrudes outof the generally central opening both below and above platform 1.Accidental contact between the feet of rider 7 and primary wheelassembly 2 is generally prevented by fenders 6 a and 6 b extending fromupper surface 8 of platform 1 and a wheel cover 5 spanning fenders 6 a,6 b over primary wheel assembly 2. The axis of rotation of a wheel ofprimary wheel assembly 2 defines a z axis. An x axis is orthogonal tothe z axis and is parallel to a flat surface upon which the wheel isrested on. As will be appreciated, self-balancing board 100 is driven byprimary wheel assembly 2 in either direction along the x axis.

A first auxiliary wheel assembly 3 a is rotationally coupled to a firstend of platform 1, and a first brake pedal 4 a is connected via amechanical hinge to platform 1 to brake first auxiliary wheel assembly 3a. A second auxiliary wheel assembly 3 b identical to first auxiliarywheel assembly 3 a is rotationally coupled to a second end of platform1, and a second brake pedal 4 b is connected via a mechanical hinge toplatform 1 to brake second auxiliary wheel assembly 3 b.

As shown in FIG. 2, self-balancing board 100 enables a person to standthereon straddling a centrally and symmetrically positioned wheel withhis or her feet. Acceleration and deceleration of self-balancing board100 can be controlled by placing more weight on one foot relative to theother, thus tilting self-balancing board 100. Sensors in self-balancingboard 100 detect the orientation of the platform 1 and control a motordriving the wheel to accelerate or decelerate as needed to maintain theplatform 1 in a generally level orientation.

FIG. 4 illustrates various components of self-balancing board 100 ingreater detail. Wheel cover 5 is secured to an underside of platform 1and extends upwards within opening 10, after which primary wheelassembly 2 is secured within opening 10 via wheel shaft brackets 22.Fenders 6 a, 6 b are separate elements that are fastened to platform 1.

A controller board 11 having a controller and orientation sensors islocated under platform 1 in a location provided by a PCB tray 16. Abattery tray 17 provides location for a battery assembly that includes alower battery cover 18, a battery 19, a battery PCB 20, and an upperbattery cover 21. Battery 19 can be one or more batteries coupledtogether to provide power to self-balancing board 100. Battery PCB 20controls the charging of and power flow provided by battery 19. Lowerand upper battery covers 18 and 21 protect and isolate battery 19 andbattery PCB 20 from physical damage and from electrical interference.Once PCB tray 16, battery tray 17, and primary wheel assembly 2 aresecured to platform 1, a bottom cover 23 is secured to the bottom ofplatform 1.

Auxiliary wheel assemblies 3 a and 3 b are secured at ends of platform1. Each of auxiliary wheel assembly 3 a and auxiliary wheel assembly 3 bincludes an elongated auxiliary wheel 12, an auxiliary wheel bearingmember 13, an auxiliary wheel shaft 14, and wheel nuts 15. Elongatedauxiliary wheel 12 is preferably made of a resilient material such asrubber. Auxiliary wheel bearing member 13 may be a bushing or a bearing.In embodiments wherein auxiliary wheel bearing member 13 is a bushing itis preferably made of a deformation-resistant material that is suitableas a bushing, such as certain selected types of plastic. Auxiliary wheelshaft 14 is preferably constructed from a suitable metal. Auxiliarywheel shafts 14 of auxiliary wheel assemblies 3 a and 3 b are secured toplatform 1 via wheel nuts 15 at both ends. The profile of auxiliarywheels 12 is such that the auxiliary wheels 12 touch the ground beforethe platform 1 touches the ground when the platform 1 is tipped forwardor rearward.

Coupled in a pivoting relation to platform 1 and close to auxiliarywheel assemblies 3 a and 3 b are brake pedals 4 a and 4 b. Each brakepedal 4 a, 4 b is mechanically hinged to platform 1 via hinge posts 31.Biasing members 32 (e.g. torsion springs) are positioned on hinge posts31 and between brake pedals 4 a, 4 b and platform 1.

FIG. 5 illustrates various components of primary wheel assembly 2 ingreater detail. Primary wheel assembly 2 includes a tire 24 that is madeof a suitable rubber. A motor 25 is placed inside of tire 24 and issecured between two wheel hub sections 26, 27 that are dimensioned tofit tightly inside of tire 24 via friction-fit or by any other suitableconnection structure. Motor 25 has an axel that is secured at each endto wheel shaft bracket 22 via wheel shaft nuts 28. Primary wheelassembly 2 is then secured to platform 1 via wheel shaft brackets 22.Power may be transmitted from the battery 19 to the motor 25 through ahollow shaft supporting the wheel assembly 2 on the platform 1. Themotor 25 may be a hub motor that includes a central portion that is thestator and a radially outer portion that is a rotor and rotates aboutthe stator.

Referring now to FIGS. 4 and 5, the controller uses orientation dataprovided by the orientation sensors for the platform 1 and controlsmotor 24 based on the orientation data. When the rider shifts theirweight to one end of platform 1, thereby tilting platform 1 around the zaxis, the controller controls motor 24 to accelerate self-balancingboard 100 in the direction to which weight was shifted.

FIG. 6a shows brake pedal 4 at either end of platform 1 ofself-balancing board 100 in a disengaged position. Flanged portions 29of brake pedal 4 receive auxiliary wheel shaft 14 through a hole,enabling an end 30 of brake pedal 4 to pivot therearound. Brake pedal 4has a brake pad 31 on a surface of end 30 facing auxiliary wheel 12.When brake pedal 4 is not urged to pivot downwards (i.e., in adisengaged position), springs 32 bias end 30 and brake pad 31 of brakepedal 4 away from auxiliary wheel 12. When end 30 and brake pad 31 ofbrake pedal 4 are urged to pivot towards auxiliary wheel 12 by manualexertion of a force P on an opposite surface of end 30 into an engagedposition, brake pad 31 engages auxiliary wheel 12 and the friction forcebetween brake pad 31 and auxiliary wheel 12 works to brake auxiliarywheel 12, as shown in FIG. 6b . Upon termination of the force P, end 30of brake pedal 4 is urged back into the position shown in FIG. 6a bysprings 32.

As shown in FIG. 7a , self-balancing board 100 has a freedom of movementF of approximately plus or minus eight degrees around the z axis (of theprimary wheel) before auxiliary wheel 12 at either end of platform 1contacts a flat surface upon which self-balancing board 100 is resting.The angle is found to be suitable for an intuitive use of the board butcan vary depending on other factors relating to board performance.

Assuming a single direction of travel T for illustration, three mainuser situations are possible. Self-balancing board 100 can be inbalance, as shown in FIG. 7a , during which its velocity, either zero ornon-zero, is constant. In addition, auxiliary wheel assembly 3 a enablesa smooth transition when traversing uneven terrains, such as a speedbump 32.

As shown in FIG. 7b , weight can be shifted forward by the rider to tiltthe leading end of platform 1 downwards up to eight degrees towards thesurface over which self-balancing board 100 is traveling. When thecontroller receives orientation data from the orientation sensors oncontroller board 11 in this position, the controller directs motor 25 toaccelerate self-balancing board 100 at full power in direction T andauxiliary wheel assembly 3 a facilitates forward movement ofself-balancing board 100. Brake pedal 4 b and brake pad 31 are biasedaway from auxiliary wheel 3 b towards a disengaged position by springs32.

Alternatively, as shown in FIG. 7c , weight can be shifted backward bythe rider to tilt the trailing end of platform 1 downwards eight degreestowards the surface over which self-balancing board 100 is traveling.When the controller receives orientation data from the orientationsensors on controller board 11 in this position, the controller directsmotor 25 to decelerate self-balancing board 100, using the motor as abrake, at full power in the direction opposite of T, causingself-balancing board 100.

The rider can further increase deceleration of self-balancing board 100by manually pressing down with their foot on brake pedal 4 b to urgebrake pedal 4 b and brake pad 30 to an engaged position to engageauxiliary wheel assembly 3 b. The braking force between brake pad 30 andauxiliary wheel assembly 3 b is proportional to the manual force appliedto brake pedal 4 b, and self-balancing board 100 can be brought to amore rapid stop than if only relying on the motor brake provided bymotor 25.

As will be appreciated, motor 24 of self-balancing board 100 can operateboth clockwise or counterclockwise, so that self-balancing board 100 cantravel in the direction opposite of T. In this reverse direction, thesame principles are applied by self-balancing board 100. Tilting of theleading end of platform 1 towards the surface being traveled over causesthe controller to direct motor 24 to accelerate in that direction.Similarly, tilting of the trailing end of platform 1 towards the surfacebeing traveled over causes the controller to direct motor to decelerate.The rider 7 can further increase deceleration of self-balancing board100 in the direction opposite of T by manually urging brake pedal 4 aand brake pad 30 connected thereto to engage auxiliary wheel assembly 3a, thereby applying a mechanical braking force to auxiliary wheelassembly 3 a.

FIG. 8 shows an alternative configuration for self-balancing board 100′.Self-balancing board 100′ is similar to self-balancing board 100, exceptthat brake pedal 4 a has been removed and replaced with a handlebarbracket 35 to which a handlebar 34 is secured. Brake pedal 4 b is leftin place and can be operated by the rider to brake self-balancing board100′. In this alternative configuration, first auxiliary wheel assembly3 a may also be removed.

While, in the above described embodiment, movable brake pedals that arecoupled to the platform via mechanical hinges are used to engageauxiliary wheel assemblies to provide resistance to rotation of theauxiliary wheel assemblies, other types of brake elements can beemployed to engages the auxiliary wheel assemblies. For example, a brakepedal can be provided via a living hinged portion of the platform, wherethe respective portion of the platform is suitably flexible to enablemanual biasing of the brake pedal between a disengaged position and anengaged position.

In another alternative embodiment shown in FIG. 9, the brake element isa brake actuator 200 traveling generally linearly through a bore of aplatform 204 and being secured to a brake pad 208. Brake actuator 200 isbiased to a disengaged position via a biasing mechanism such as spring212 or the like in which brake pad 208 is not in contact with anauxiliary wheel assembly 216. Brake actuator 200 may be manually biasedthrough the bore to cause brake pad 208 to engage auxiliary wheelassembly 216. Other types of brake elements that are manually movable toengage the auxiliary wheel assemblies will occur to those skilled in theart.

An auxiliary wheel assembly can be movable towards the platform to whicha brake pad may be fixed. For example, FIG. 10 shows a furtheralternative embodiment in which an auxiliary wheel assembly 300 ismounted on a cylinder 304 that slidably receives a post 308 secured to aplatform 312. Cylinder 304 is biased away from platform 312 via a spring316 or the like. A brake pad 320 is secured to platform 312. By manuallyshifting weight when auxiliary wheel assembly 300 is in contact with asurface, spring 316 can be compressed so that auxiliary wheel assembly300 engages brake pad 320. Thus, in this case, platform 312 adjacentauxiliary wheel assembly 300 serves as the brake element.

FIG. 11 shows yet another embodiment in which an auxiliary wheelassembly 400 is connected to an auxiliary wheel support 404 which ispivotally coupled to a platform 408 so that auxiliary wheel assembly 400can pivot about an axis 412. The orientation of auxiliary wheel support404 is biased to urge auxiliary wheel assembly 400 away from a brake pad416 secured to platform 408. By manually shifting weight when auxiliarywheel assembly 400 is in contact with a surface, the biasing forceurging auxiliary wheel assembly 400 and brake pad 416 away from oneanother can be overcome so that auxiliary wheel assembly 400 engagesbrake pad 416. Thus, in this case, platform 408 adjacent auxiliary wheelassembly 400 serves as the brake element.

While the primary wheel assembly is shown having a single primary wheel,it will be appreciated that the primary wheel assembly can alternativelyhave two or more primary wheels that rotate on a common axis. The two ormore primary wheels could be driven by a single motor or by individualmotors.

While the auxiliary wheel assemblies are illustrated as having a singleelongated wheel in the above embodiment, it will appreciated that theauxiliary wheel assembly can include two or more auxiliary wheels thatare spaced laterally from one another. Further, the auxiliary wheelassemblies can include one or more cylindrical braking drums of asmaller diameter than the auxiliary wheels and against which the brakepads may be urged to provide resistance to rotation of auxiliary wheelassembly.

The above-described embodiments are intended to be examples of thepresent invention and alterations and modifications may be effectedthereto, by those of skill in the art, without departing from the scopeof the invention that is defined solely by the claims appended hereto.

1. A self-balancing board, comprising: a primary wheel assembly,comprising: a primary wheel; and a motor driving the primary wheel; aplatform secured to the primary wheel assembly and having a foot deck;at least one sensor sensing the orientation of the platform; acontroller receiving data from the at least one sensor and controllingthe motor in response to the received data; a first auxiliary wheelassembly coupled to the platform distal the primary wheel assembly, thefirst auxiliary wheel assembly including a first auxiliary wheel that iselevated from contacting a flat surface upon which the primary wheelrests when the foot deck is parallel to the flat surface, and beingengaged with the flat surface upon which the primary wheel rests whenthe foot deck is tilted by a selected angle, so as to cooperate with theprimary wheel to support the self-balancing board on the flat surfacewithout triggering braking by the controller on the primary wheel; and afirst brake element that is manually movable relative to the firstauxiliary wheel assembly to engage the first auxiliary wheel assembly toprovide resistance to rotation of the first auxiliary wheel assembly. 2.The self-balancing board of claim 1, further comprising: a first brakepedal being biased to a disengaged position and being movable to anengaged position in which the first brake element contacts the firstauxiliary wheel assembly.
 3. The self-balancing board of claim 2,wherein the first brake pedal is coupled to the platform via amechanical hinge.
 4. The self-balancing board of claim 2, wherein thefirst brake pedal is coupled to the platform via a living hinge.
 5. Theself-balancing board of claim 1, wherein the first brake elementcomprises a first brake pad, the first brake element being linearlybiased away from the first auxiliary wheel assembly, and wherein thefirst brake element can be manually urged towards the first auxiliarywheel assembly to cause the first brake pad to come into contact withthe first auxiliary wheel assembly.
 6. The self-balancing board of claim1, wherein the first auxiliary wheel assembly is biased away from theplatform, and wherein pressure applied to the platform proximal to thefirst auxiliary wheel assembly when the first auxiliary wheel assemblyurges the first auxiliary wheel assembly into contact with the firstbrake element.
 7. (canceled)
 8. (canceled)
 9. The self-balancing boardof claim 1, further comprising: a second auxiliary wheel assemblycoupled to the platform distal the primary wheel assembly, the secondauxiliary wheel assembly including a second auxiliary wheel that iselevated from contacting the flat surface when the foot deck is parallelto the flat surface; and a second brake element that is manually movablerelative to the second auxiliary wheel assembly to engage the secondauxiliary wheel assembly to provide resistance to rotation of the secondauxiliary wheel assembly.
 10. The self-balancing board of claim 9,further comprising: a second brake pedal being biased to a disengagedposition and being movable to an engaged position in which the secondbrake element contacts the second auxiliary wheel assembly.
 11. Theself-balancing board of claim 10, wherein the second brake pedal iscoupled to the platform via a mechanical hinge.
 12. The self-balancingboard of claim 10, wherein the second brake pedal is coupled to theplatform via a living hinge.
 13. The self-balancing board of claim 9,wherein the second brake element comprises a second brake pad, thesecond brake element being linearly biased away from the secondauxiliary wheel assembly, and wherein the second brake element can bemanually urged towards the second auxiliary wheel assembly to cause thesecond brake pad to come into contact with the second auxiliary wheelassembly.
 14. The self-balancing board of claim 9, wherein the secondauxiliary wheel assembly is biased away from the platform, and whereinpressure applied to the platform proximal to the second auxiliary wheelassembly when the second auxiliary wheel assembly urges the secondauxiliary wheel assembly into contact with the second brake element. 15.The self-balancing board of claim 1, further comprising a handle barsecured to the platform.
 16. The self-balancing board of claim 1,wherein the first auxiliary wheel assembly is positioned proximate afront end of the platform, and wherein the self-balancing board furthercomprises: a second auxiliary wheel assembly coupled to the platformproximate a rear end of the platform, the second auxiliary wheelassembly including a second auxiliary wheel that is elevated fromcontacting the flat surface when the foot deck is parallel to the flatsurface, and being engaged with the flat surface upon which the primarywheel rests when the foot deck is tilted by a selected angle, so as tocooperate with the primary wheel to support the self-balancing board onthe flat surface.
 17. The self-balancing board of claim 16, furthercomprising a second brake element that is manually movable relative tothe second auxiliary wheel assembly to engage the second auxiliary wheelassembly to provide resistance to rotation of the second auxiliary wheelassembly.
 18. The self-balancing board of claim 16, wherein, duringengagement of the second auxiliary wheel assembly with the flat surfacethe controller decelerates the primary wheel.
 19. A self-balancingboard, comprising: a primary wheel assembly, comprising: a primarywheel; and a motor driving the primary wheel; a platform secured to theprimary wheel assembly and having a foot deck, wherein the platform hasa forwardmost edge and a rearwardmost edge and wherein the primary wheelis intermediate the forwardmost edge and the rearwardmost edge; at leastone sensor sensing the orientation of the platform; a controllerreceiving data from the at least one sensor, wherein the controlleraccelerates and decelerates the motor, and in turn, the self-balancingboard, in response to the received data; and a first auxiliary wheelcoupled to the platform distal the primary wheel assembly, wherein thefirst auxiliary wheel is non-powered, and is elevated from contacting aflat surface upon which the primary wheel rests when the foot deck isparallel to the flat surface, and is engaged with the flat surface uponwhich the primary wheel rests when the foot deck is tilted by a selectedangle, so as to cooperate with the primary wheel to support theself-balancing board on the flat surface without triggering braking bythe controller on the primary wheel, wherein the first auxiliary wheelextends axially forward of the forwardmost edge of the platform.
 20. Theself-balancing board of claim 19, further comprising a first brakeelement that is manually movable relative to the first auxiliary wheelto engage the first auxiliary wheel to provide resistance to rotation ofthe first auxiliary wheel.
 21. The self-balancing board of claim 19,further comprising: a second auxiliary wheel coupled to the platformdistal the primary wheel assembly, wherein the first auxiliary wheel isnon-powered, and is elevated from contacting the flat surface when thefoot deck is parallel to the flat surface, wherein the second auxiliarywheel extends axially rearward of the rearwardmost edge of the platform.22. The self-balancing board of claim 20, further comprising: a secondauxiliary wheel coupled to the platform distal the primary wheelassembly, wherein the first auxiliary wheel is non-powered, and iselevated from contacting the flat surface when the foot deck is parallelto the flat surface, wherein the second auxiliary wheel extends axiallyrearward of a rearwardmost edge of the platform; and a second brakeelement that is manually movable relative to the second auxiliary wheelto engage the second auxiliary wheel to provide resistance to rotationof the second auxiliary wheel.
 23. The self-balancing board of claim 19,wherein the primary wheel is the only wheel on the self-balancing boardthat is powered.